Don't call rcl_logging_configure/rcl_logging_fini in rcl_init/rcl_shutdown

rcl/include/rcl/init_options.h

@@ -144,14 +144,39 @@ rcl_init_options_fini(rcl_init_options_t * init_options);
  * Lock-Free          | Yes
  *
  * \param[in] init_options object from which the rmw init options should be retrieved
- * \return pointer to the the rmw init options, or
+ * \return pointer to the the rcl init options, or
  * \return `NULL` if there was an error
  */
 RCL_PUBLIC
 RCL_WARN_UNUSED
 rmw_init_options_t *
 rcl_init_options_get_rmw_init_options(rcl_init_options_t * init_options);
 
+/// Return the allocator stored in the init_options.
+/**
+ * This function can fail and return `NULL` if:
+ *   - init_options is NULL
+ *   - init_options is invalid, e.g. init_options->impl is NULL
+ *
+ * If NULL is returned an error message will have been set.
+ *
+ * <hr>
+ * Attribute          | Adherence
+ * ------------------ | -------------
+ * Allocates Memory   | No
+ * Thread-Safe        | Yes
+ * Uses Atomics       | No
+ * Lock-Free          | Yes
+ *
+ * \param[in] init_options object from which the allocator should be retrieved
+ * \return pointer to the rcl allocator, or
+ * \return `NULL` if there was an error
+ */
+RCL_PUBLIC
+RCL_WARN_UNUSED
+const rcl_allocator_t *
+rcl_init_options_get_allocator(const rcl_init_options_t * init_options);
+
 #ifdef __cplusplus
 }
 #endif

rcl/src/rcl/init.c

@@ -131,16 +131,6 @@ rcl_init(
     goto fail;
   }
 
-  ret = rcl_logging_configure(&context->global_arguments, &allocator);
-  if (RCL_RET_OK != ret) {
-    fail_ret = ret;
-    RCUTILS_LOG_ERROR_NAMED(
-      ROS_PACKAGE_NAME,
-      "Failed to configure logging: %s",
-      rcutils_get_error_string().str);
-    goto fail;
-  }
-
   // Set the instance id.
   uint64_t next_instance_id = rcutils_atomic_fetch_add_uint64_t(&__rcl_next_unique_id, 1);
   if (0 == next_instance_id) {
@@ -260,13 +250,6 @@ rcl_shutdown(rcl_context_t * context)
     return rcl_convert_rmw_ret_to_rcl_ret(rmw_ret);
   }
 
-  rcl_ret_t rcl_ret = rcl_logging_fini();
-  RCUTILS_LOG_ERROR_EXPRESSION_NAMED(
-    RCL_RET_OK != rcl_ret, ROS_PACKAGE_NAME,
-    "Failed to fini logging, rcl_ret_t: %i, rcl_error_str: %s", rcl_ret,
-    rcl_get_error_string().str);
-  rcl_reset_error();
-
   return RCL_RET_OK;
 }
 

rcl/src/rcl/init_options.c

@@ -139,6 +139,14 @@ rcl_init_options_get_rmw_init_options(rcl_init_options_t * init_options)
   return &(init_options->impl->rmw_init_options);
 }
 
+const rcl_allocator_t *
+rcl_init_options_get_allocator(const rcl_init_options_t * init_options)
+{
+  RCL_CHECK_ARGUMENT_FOR_NULL(init_options, NULL);
+  RCL_CHECK_ARGUMENT_FOR_NULL(init_options->impl, NULL);
+  return &(init_options->impl->allocator);
+}
+
 #ifdef __cplusplus
 }
 #endif

rcl/test/rcl/test_graph.cpp

@@ -30,6 +30,7 @@
 
 #include "rcl/error_handling.h"
 #include "rcl/graph.h"
+#include "rcl/logging.h"
 #include "rcl/rcl.h"
 
 #include "rcutils/logging_macros.h"
@@ -66,6 +67,7 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
   void SetUp()
   {
     rcl_ret_t ret;
+    rcl_allocator_t allocator = rcl_get_default_allocator();
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
     ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
@@ -77,6 +79,10 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
     *this->old_context_ptr = rcl_get_zero_initialized_context();
     ret = rcl_init(0, nullptr, &init_options, this->old_context_ptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_logging_configure(&this->old_context_ptr->global_arguments, &allocator)
+    ) << rcl_get_error_string().str;
     this->old_node_ptr = new rcl_node_t;
     *this->old_node_ptr = rcl_get_zero_initialized_node();
     const char * old_name = "old_node_name";
@@ -127,6 +133,7 @@ class CLASSNAME (TestGraphFixture, RMW_IMPLEMENTATION) : public ::testing::Test
     ret = rcl_context_fini(this->old_context_ptr);
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     delete this->old_context_ptr;
+    EXPECT_EQ(RCL_RET_OK, rcl_logging_fini()) << rcl_get_error_string().str;
   }
 };
 

rcl/test/rcl/test_logging_rosout.cpp

@@ -19,6 +19,7 @@
 
 #include "osrf_testing_tools_cpp/scope_exit.hpp"
 #include "rcl/error_handling.h"
+#include "rcl/logging.h"
 #include "rcl/rcl.h"
 #include "rcl/subscription.h"
 #include "rcl_interfaces/msg/log.h"
@@ -70,8 +71,9 @@ class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
   {
     auto param = GetParam();
     rcl_ret_t ret;
+    rcl_allocator_t allocator = rcl_get_default_allocator();
     rcl_init_options_t init_options = rcl_get_zero_initialized_init_options();
-    ret = rcl_init_options_init(&init_options, rcl_get_default_allocator());
+    ret = rcl_init_options_init(&init_options, allocator);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
     OSRF_TESTING_TOOLS_CPP_SCOPE_EXIT(
     {
@@ -83,6 +85,11 @@ class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
     ret = rcl_init(param.argc, param.argv, &init_options, this->context_ptr);
     ASSERT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
 
+    EXPECT_EQ(
+      RCL_RET_OK,
+      rcl_logging_configure(&this->context_ptr->global_arguments, &allocator)
+    ) << rcl_get_error_string().str;
+
     // create node
     rcl_node_options_t node_options = rcl_node_get_default_options();
     if (!param.enable_node_option_rosout) {
@@ -120,6 +127,7 @@ class TEST_FIXTURE_P_RMW (TestLoggingRosoutFixture)
     ret = rcl_context_fini(this->context_ptr);
     delete this->context_ptr;
     EXPECT_EQ(RCL_RET_OK, ret) << rcl_get_error_string().str;
+    EXPECT_EQ(RCL_RET_OK, rcl_logging_fini()) << rcl_get_error_string().str;
   }
 
 protected: